CN111791264A - Joint module and mechanical arm - Google Patents
Joint module and mechanical arm Download PDFInfo
- Publication number
- CN111791264A CN111791264A CN202010591111.XA CN202010591111A CN111791264A CN 111791264 A CN111791264 A CN 111791264A CN 202010591111 A CN202010591111 A CN 202010591111A CN 111791264 A CN111791264 A CN 111791264A
- Authority
- CN
- China
- Prior art keywords
- shell
- joint
- skin
- steering engine
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a joint module and a mechanical arm, wherein the joint module comprises a first joint component and a second joint component which is rotationally connected with the first joint component, the first joint component comprises a first shell and a first steering engine which is used for driving the second joint component to rotate relative to the first joint component, the second joint component comprises a second shell and a second steering engine which drives an external structure to rotate, and the axes of rotating output shafts of the first steering engine and the second steering engine form an included angle; the end of the first shell or the second shell is U-shaped. According to the joint module and the mechanical arm provided by the invention, the second joint component can be folded towards the first joint component, so that the space occupied by the joint module is reduced, and the second shell or one end of the first shell is U-shaped, so that the joint of the first shell and the second shell is not abrupt and is more anthropomorphic, and the space occupied by the folded joint module is further reduced.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a joint module and a mechanical arm.
Background
With the continuous development of robots, the robots are more and more anthropomorphic, and joints of mechanical arms are also more and more close to joints of people. In the field of mechanical arms, a traditional mechanical arm joint module is a single steering engine module and is generally spliced together, under the condition that the mechanical arm needs to be folded, a joint at the tail end of the mechanical arm usually adopts a tail end joint of a traditional UR robot, and the occupied space after folding is still large.
Disclosure of Invention
The embodiment of the invention aims to provide a joint module and a mechanical arm so as to solve the technical problem that a joint at the tail end of a mechanical arm occupies a large space in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: the joint module comprises a first joint component and a second joint component which is rotatably connected to the first joint component, wherein the first joint component comprises a first shell and a first steering engine which is used for driving the second joint component to rotate relative to the first joint component, the second joint component comprises a second shell and a second steering engine which drives an external structure to rotate, and the axes of rotating output shafts of the first steering engine and the second steering engine form an included angle; the second casing is close to the one end of first casing is the U-shaped, the tip of first casing stretches into in the U-shaped space of second casing and with the second casing rotates to be connected, perhaps, first casing is close to the one end of second casing is the U-shaped, the tip of second casing stretches into in the U-shaped space of first casing and with first casing rotates to be connected.
In one embodiment, the first steering engine and the second steering engine are arranged in a way that the axes of the rotating output shafts of the first steering engine and the second steering engine are perpendicular.
In one embodiment, one end of the second shell, which is close to the first shell, is in a U shape, the end of the first shell extends into the U-shaped space of the second shell and is rotatably connected with the second shell, and the rotary output shaft of the first steering engine is connected to the U-shaped position of the second shell.
In one embodiment, the first joint assembly further includes a rotating arm fixed to the first housing, the rotating arm is provided with a first electronic skin assembly for detecting an object, and the first housing is provided with a first skin control board electrically connected to the first electronic skin assembly.
In one embodiment, the first electronic skin assembly includes a first skin fixing seat fixed on the surface of the rotating arm, a first skin sensor disposed on the first skin fixing seat, and a first skin surface layer covering the surface of the first skin sensor, and the first skin sensor extends into the rotating arm and is electrically connected to the first skin control board.
In one embodiment, a second electronic skin component for detecting an object is disposed on the second housing, and a second skin control board electrically connected to the second electronic skin component is disposed in the second housing.
In one embodiment, the second electronic skin assembly includes a second skin fixing seat fixed on the surface of the second housing, a second skin sensor disposed on the second skin fixing seat, and a second skin surface layer covering the surface of the second skin sensor, and the second skin sensor extends into the second housing and is electrically connected to the second skin control board.
In one embodiment, the second shell comprises a U-shaped shell and a joint shell, the U-shaped shell comprises a bottom shell connected with the joint shell and two side shell parts respectively connected to two ends of the bottom shell, two ends of a rotation output shaft of the first steering engine are respectively connected to the two side shell parts, and the second steering engine is fixed in the joint shell; the second electronic skin assembly is arranged on each of the two side shell parts and the joint shell.
In one embodiment, the second skin control board is disposed in the joint housing, an electronic skin patch board electrically connected to the second skin control board is disposed in the side housing, and the second electronic skin sensor on the side housing is electrically connected to the electronic skin patch board.
In one embodiment, one end of the first shell, which is close to the second shell, is U-shaped, the end of the second shell extends into the U-shaped space of the first shell and is rotatably connected with the first shell, the first steering engine comprises a driving motor and a transmission assembly connected to the driving motor, the transmission assembly comprises a first rotating shaft connected to a rotating output end of the driving motor and a second rotating shaft connected to the second shell, the first rotating shaft and the second rotating shaft are arranged in parallel, and the second rotating shaft penetrates through the U-shaped position of the first shell and is fixedly connected to the second shell.
In one embodiment, a third electronic skin component is disposed on the first housing, and a third skin control board electrically connected to the third electronic skin component is disposed in the first housing; alternatively, the first and second electrodes may be,
a third electronic skin component is arranged on the second shell, and a third skin control panel electrically connected with the third electronic skin component is arranged in the second shell; alternatively, the first and second electrodes may be,
the first shell and the second shell are respectively provided with a third electronic skin component, and the first shell and the second shell are correspondingly internally provided with a third skin control panel electrically connected with the corresponding third electronic skin component.
In one embodiment, the transmission assembly is a pulley assembly, a sprocket assembly, or a gear assembly.
The invention also provides a mechanical arm which comprises the joint module.
The joint module and the mechanical arm provided by the invention have the beneficial effects that: compared with the prior art, the joint module comprises a first joint component and a second joint component which are connected in a rotating mode, the first joint component comprises a first shell and a first steering engine, the second joint component comprises a second shell and a second steering engine, and the rotating directions of the first steering engine and the second steering engine are arranged in an included angle mode, so that the second joint component can be folded towards the first joint component, and the space occupied by the joint module is reduced. And second casing or first casing one end is the U-shaped, makes the tip of first casing insert in the U-shaped space of second casing, perhaps the tip of second casing can insert in the U-shaped space of first casing for the junction of first casing and second casing is not obtrusive, and is more anthropomorphic, further reduces the space that occupies after the joint module folding.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a perspective structural view of a first joint module according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of the first joint of FIG. 1;
FIG. 3 is an exploded view of the first housing and the first electrical skin assembly of FIG. 1;
FIG. 4 is a cross-sectional view of the second joint of FIG. 1;
fig. 5 is a perspective view of a second joint module according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of the first joint of FIG. 4;
figure 7 is a cross-sectional view of the second joint of figure 4.
Wherein, in the figures, the respective reference numerals:
1 a-a first joint component; 11 a-a first housing; 12 a-a first steering engine; 121-a first motor; 122-a first brake assembly; 123-a first encoder assembly; 124-a first harmonic speed reduction assembly; 125-a first rotary output shaft; 1250-a first hollow hole; 1251-a first carousel; 1252-a first shaft; 126-a first controller component; 13-a first joint stop; 130-a first wiring hole; 131-a second seal ring; 14-a first sealing ring; 2 a-a second joint component; 201-a guard coil; 21 a-a second housing; 211-a U-shaped housing; 2111-inner U-shaped shell; 2112-side attachment of shell; 2113-side shell portion; 2114-bottom shell portion; 2115-third seal ring; 2116-fourth seal ring; 2117-line ball; 212-joint shell; 213-a first bearing; 22 a-a second steering engine; 225-a second rotary output shaft; 2250-a second hollow bore; 2251-a second carousel; 2252-a second axis of rotation; 226-a second controller assembly; 2260-a second wiring hole; 23-a second electronic skin component; 231-a second skin anchor; 232-a second skin sensor; 233-a second skin surface layer; 24-a second skin control panel; 241-an electronic skin patch panel; 3-a rotating arm; 301-accommodating grooves; 302-card hole; 303-a second sensor avoidance hole; 31-a first electronic skin component; 311-a first skin fixation seat; 3111-an extension; 3112-first sensor avoidance hole; 312-a first skin sensor; 313-a first skin surface layer; 32-a first skin control panel; 33-a decorative ring; 4-six-dimensional force sensor.
1 b-a first joint component; 11 b-a first housing; 111-U-shaped housing; 1111-a chassis portion; 1112-a side shell portion; 112-joint shell; 113-a second joint stop; 1130-fourth wiring hole; 114-a second bearing; 115-a third bearing; 116-a second encoder assembly; 15-a second harmonic speed reduction assembly; 16-an output shaft adapter; 12 b-a first steering engine; 127-a drive motor; 128-a transmission assembly; 1281-first axis of rotation; 1282-second axis of rotation; 2 b-a second joint component; 21 b-a second housing; 210-a fifth wiring hole; 22 b-a second steering engine; 221-a third motor; 222-a third brake assembly; 223-a third encoder assembly; 224-a third harmonic speed reduction assembly; 227-a third controller component; 228-second rotary output shaft.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
A description will now be given of a joint module provided in an embodiment of the present invention.
The first embodiment is as follows:
referring to fig. 1, in a first embodiment of the present invention, a joint module includes a first joint component 1a and a second joint component 2a, and the first joint component 1a and the second joint component 2a are rotatably connected. First joint subassembly 1a includes first casing 11a and locates first steering wheel 12a in first casing 11a, first steering wheel 12a is used for driving second joint subassembly 2a and rotates relatively first joint subassembly 1a, the direction of rotation of first steering wheel 12a and the direction of rotation of second steering wheel 22a are the contained angle setting, make second joint subassembly 2a can fold towards first joint subassembly 1a to can make the length space that second joint subassembly 2a and other positions of arm occupy overlap, reduce the space that whole arm occupy. Moreover, one end of the second shell 21a close to the first shell 11a is U-shaped, the end of the first shell 11a extends into the U-shaped space of the second shell 21a, and the output end of the first steering engine 12a is connected to the inner wall of the U-shaped space of the second shell 21a, so that the second shell 21a can rotate relative to the first shell 11 a. One end of the second shell 21a is arranged in a U shape, and the thickness of the U-shaped part is smaller, so that the joint of the first shell 11a and the second shell 21a is smoother, not abrupt, more anthropomorphic, and more capable of reducing the space occupied by the joint module after folding.
In the above embodiment, the joint module includes first joint subassembly 1a and second joint subassembly 2a that rotate to connect, and first joint subassembly 1a includes first casing 11a and first steering wheel 12a, and second joint subassembly 2a includes second casing 21a and second steering wheel 22a, and the direction of rotation of first steering wheel 12a and second steering wheel 22a is the contained angle setting for second joint subassembly 2a can be folded to first joint subassembly 1a, reduces the space that the joint module occupy. And one end of the second shell 21a close to the first shell 11a is in a U shape, so that the end of the first shell 11a can be accommodated in the U-shaped space of the first shell 11a, the joint of the first shell 11a and the second shell 21a is not abrupt, and the joint is more anthropomorphic, and the space occupied by the joint module after folding is further reduced.
Optionally, the rotation direction of the output end of the first steering engine 12a and the rotation direction of the output end of the second steering engine 22a are vertically arranged, so that the second joint component 2a can be vertically folded towards the first joint component 1a, when the joint module is applied to the mechanical arm, the folded second joint component 2a can be overlapped with other parts of the mechanical arm, the occupied volume of the mechanical arm after being folded is reduced as much as possible, and the mechanical arm is more miniaturized and personified. In other embodiments, the rotation direction of the output end of the first steering engine 12a and the rotation direction of the output end of the second steering engine 22a are approximately perpendicular to each other, for example, an included angle between the rotation direction of the output end of the first steering engine 12a and the rotation direction of the output end of the second steering engine 22a is 80 ° to 90 °.
Referring to fig. 1 and 2, the first joint assembly 1a further includes a rotating arm 3 fixed to the first housing 11 a. One end of the rotating arm 3, which is far away from the second joint component 2a, can be provided with a third steering engine, and the third steering engine can be used for driving the rotating arm 3 to rotate by taking the axis of the rotating arm as a rotating axis, so that the first joint component 1a and the second joint component 2a are driven to rotate by taking the axis of the rotating arm 3 as the rotating axis. The first shell 11a and the rotating arm 3 can be fixedly connected through fasteners of screws and pins, a decoration ring 33 is arranged at the joint of the first shell 11a and the rotating arm 3, and the decoration ring 33 is used for shielding the exposed head of the fastener, so that the appearance of the mechanical arm is tidier and personified.
Optionally, at least one first electronic skin component 31 is disposed on the surface of the rotating arm 3, and a first skin control panel 32 is disposed in the first housing 11a, so that the first skin control panel 32 is close to the first controller component 126 in the first steering engine 12a, and each circuit board is integrated in the first steering engine 12 a. First electron skin subassembly 31 is used for detecting whether there is the object to be close, whether bump with the object, through the setting of first electron skin subassembly 31, can prevent rotor arm 3 and external object or personnel bump, perhaps after rotor arm 3 bumps with external object and personnel, stop motion immediately prevents to bump external object, personnel, can also avoid first joint subassembly 1a and rotor arm 3 impaired.
Optionally, referring to fig. 3, the first electronic skin assembly 31 includes a first skin fixing seat 311, a first skin sensor 312 and a first skin surface layer 313, which are sequentially stacked, the first skin fixing seat 311 is fixed on the surface of the rotating arm 3, and the first skin surface layer 313 is exposed. The side of the first skin fixing seat 311 extends to form an extending portion 3111, the surface of the rotating arm 3 correspondingly has an accommodating groove 301 for accommodating the first skin fixing seat 311, and a side wall of the accommodating groove 301 is provided with a clamping hole 302 for the extending portion 3111 to extend into, so that the first skin fixing seat 311 is clamped on the rotating arm 3. The first skin sensor 312 may be a pressure sensor, an infrared sensor, etc., and one or more first skin sensors 312 may be correspondingly disposed on one first skin fixing base 311. The first skin surface layer 313 can be made of soft materials such as silica gel and rubber, so that the first skin surface layer 313 is more anthropomorphic. The first skin sensor 312 and the first skin surface layer 313 of the first skin fixing seat 311 can be fixed to each other by gluing. First sensor dodges the hole 3112 has been seted up on first skin fixing base 311, has seted up second sensor dodges the hole 303 on the first casing 11a for first skin sensor 312 can pass first sensor dodges the hole 3112 and second sensor dodges the inside that the hole 303 got into rotor 3, and electric connection is in first skin control panel 32. When the pin end of the first skin sensor 312 is far from the first skin control board 32, the electronic skin adapter board 241 may be fixedly disposed in the rotating arm 3 or the first housing 11a, so that the pin end of the first skin sensor 312 is directly or indirectly connected to the electronic skin adapter board 241 through a wire, and the electronic skin adapter board 241 is connected to the first skin control board 32 through a wire.
The first steering engine 12a includes a first motor 121, a first harmonic speed reduction assembly 124 connected to the first motor 121, a first brake assembly 122 for braking, a first encoder assembly 123 for recording angular displacement, a first harmonic speed reduction assembly 124, a first rotary output shaft 125, and a first controller assembly 126, wherein the first motor 121, the first harmonic speed reduction assembly 124, the first brake assembly 122, the first encoder assembly 123, and the first rotary output shaft are all integrated in the steering engine housing, and the first controller assembly 126 can be disposed outside the steering engine housing and fixed in the first housing 11 a. The first controller assembly 126 includes at least one circuit board, the circuit board and the first skin control panel 32 can be fixedly connected by a connector such as a stud, and the circuit board, and the circuit board and the first skin control panel 32 are electrically connected by a BTB connector.
Referring to fig. 4, a second electronic skin assembly 23 for detecting an object is disposed on the second housing 21a, and a second skin control board 24 is disposed in the second housing 21 a. The second electronic skin component 23 may optionally be of the same construction as the first electronic skin component 31, the size of the second electronic skin component 23 being selectable according to the size and shape of the second housing 21 a. Specifically, the second electronic skin component 23 includes a second skin fixing seat 231, a second skin sensor 232 and a second skin layer 233 which are stacked, respectively, and the second skin fixing seat 231 is fixed on the surface of the second housing 21 a.
Alternatively, the second housing 21a includes a U-shaped housing 211 and a joint housing 212 which are fixedly connected, the U-shaped housing 211 includes a bottom housing 2114 and two side housings 2113, one side of each of the two side housings 2113 facing the bottom housing 2114 is parallel to the other side of the other side housing 2113, one of the side housings 2113, the bottom housing 2114 and the other side housing 2113 are connected in sequence, one end of the first rotary output shaft 125 of the first steering engine 12a is connected to one of the side housings 2113, and the steering engine housing of the first steering engine 12a is clamped between the two side housings 2113. The two side shell portions 2113 and the joint shell 212 are respectively provided with a second electronic skin assembly 23, so that the U-shaped shell 211 and the joint shell 212 have an anti-collision function, the second skin sensor 232 on the U-shaped shell 211 penetrates through the U-shaped shell 211 to be electrically connected with the second skin control board 24, and the second skin sensor 232 on the joint shell 212 penetrates through the joint shell 212 to be electrically connected with the second skin control board 24. The number of the second skin control panels 24 is one, and may be provided in the U-shaped housing 211 or in the joint housing 212. When the second skin control panel 24 is disposed in the joint housing 212, it can be fixed in the second controller component 226 of the second steering engine 22a, and electrically connected to the second controller component 226 of the second steering engine 22 a. Optionally, an electronic skin adapter board 241 is disposed in the U-shaped housing 211, the second skin sensor 232 on the U-shaped housing 211 is connected to the electronic skin adapter board 241 through a cable or directly, the electronic skin adapter board 241 is electrically connected to the second skin control board 24 through a cable, and the problem of too far distance between the second skin sensor 232 and the second skin control board 24 can be solved by the arrangement of the electronic skin adapter board 241.
Referring to fig. 2, the first housing 11a is used to fix the first steering engine 12a in a cylindrical shape, the first rotary output shaft 125 of the first steering engine 12a includes a first rotary disk 1251 and a second rotary shaft 1252 connected to the first rotary disk 1251, the first rotary disk 1251 is disposed at an output end of the first steering engine 12a, the second rotary shaft 1252 penetrates through the first steering engine 12a, so that the first steering engine 12a is disposed in a hollow manner, the second rotary shaft 1252 is also disposed in a hollow manner, and the second rotary shaft 1252 has a first hollow hole 1250. The first rotary disk 1251 and one side shell 2113 of the U-shaped housing 211 are fixedly connected, so that the first steering engine 12a can drive the second joint assembly 2a to rotate, and a first sealing ring 14 is arranged between the first rotary disk 1251 and the U-shaped housing 211 for sealing a gap between the first rotary disk 1251 and the U-shaped housing 211. One end, back to the first turntable 1251, of the first steering engine 12a is provided with a first joint line blocking plate 13, the first joint line blocking plate 13 is fixed on the first shell 11a, and when the first steering engine 12a drives the second joint assembly 2a to rotate, the first joint line blocking plate 13 is fixed. A second sealing ring 131 is arranged between the first joint line blocking plate 13 and the first steering engine 12a and used for sealing a gap between the first joint line blocking plate 13 and the first steering engine 12 a. The first joint line blocking plate 13 is provided with a first line passing hole 130, a part of cables pass through the first shell 11a from the first controller assembly 126 of the first steering engine 12a, pass through the first line passing hole 130, and then extend into the U-shaped shell 211. Be equipped with first bearing 213 on the side shell portion 2113 that is close to first joint wire baffle plate 13, the inner circle of first bearing 213 sets up with first joint wire baffle plate 13 is fixed, the outer lane of first bearing 213 sets up with side shell portion 2113 is fixed, consequently, when first steering wheel 12a drive second joint subassembly 2a is rotatory, the inner circle of first joint wire baffle plate 13 and first bearing 213 keeps motionless for the line of walking that wears to locate first joint wire baffle plate 13 also keeps motionless, consequently the condition of walking the line distortion can not appear.
Referring to fig. 4, the U-shaped housing 211 includes an inner U-shaped housing 2111 and two side close-fitting housings 2112, the side portion of the inner U-shaped housing 2111 and the side close-fitting housing 2112 are combined to form a side housing portion 2113, and the inner U-shaped housing 2111 and the side close-fitting housing 2112 can be fixedly connected by a fastener such as a screw. A third sealing ring 2115 is arranged between the inner U-shaped shell 2111 and the side attachment shell 2112 for sealing the gap between the inner U-shaped shell 2111 and the side attachment shell 2112, and a fourth sealing ring 2116 is arranged between the inner U-shaped shell 2111 and the joint housing 212 for sealing the gap between the inner U-shaped shell 2111 and the joint housing 212. A first turntable 1251 is secured to one side of the inner U-shaped housing 2111 and a first articulation plate 13 is attached to the other side of the inner U-shaped housing 2111 by a first bearing 213.
Referring to fig. 4, a second steering engine 22a is fixed in the second housing 21a, and the structure of the second steering engine 22a may be the same as that of the first steering engine 12 a. The second rotation output shaft 225 of the second steering engine 22a includes a second rotating disc 2251 and a second rotating shaft 2252, which are connected to each other, the second rotating disc 2251 and the second rotating shaft 2252 are coaxially disposed, and the second rotating disc 2251 is disposed on the side of the second housing 21a away from the first housing 11a, so that the second rotating disc 2251 can be fixedly connected to the external structure, thereby driving the rotation of the external structure. Second pivot 2252 runs through second steering wheel 22a and sets up, makes second steering wheel 22a be the cavity setting, and second pivot 2252 is the cavity setting, and has second hollow hole 2250. The second controller assembly 226 of the second steering engine 22a is disposed at an end of the steering engine housing, and the second controller assembly 226 and the second rotating disc 2251 of the second steering engine 22a are disposed at two ends of the steering engine housing, respectively, that is, the second controller assembly 226 of the second steering engine 22a is disposed close to the first housing 11a, so that a part of the cable passing through the inside of the U-shaped housing 211 can be connected to the second controller assembly 226 of the second steering engine 22a in a rotating manner, and the length of the cable between the first controller assembly 126 of the first steering engine 12a and the second controller assembly 226 of the second steering engine 22a is shortened. Wherein, when being provided with the camera on joint module or the arm, the video transmission line can run through the joint module setting, the second has been seted up on the second controller subassembly 226 of second steering wheel 22a and has been walked the line hole 2260, the video transmission line gets into joint casing 212 from the camera, pass the second cavity hole 2250 of second steering wheel 22a, pass second and walk line hole 2260 and get into U-shaped casing 211, then pass first line hole 130, make the video transmission line can run through the joint module, and, the rotation of each joint subassembly can not make the video transmission line distortion. Optionally, the first wire hole 130 and the second wire hole 2260 are both provided with a protective coil 201 to prevent cables such as signal lines, power lines, video transmission lines, etc. from rubbing against the hole wall. Optionally, a number of cable tabs 2117 is provided in the side housing portion 2113, the number of cable tabs 2117 is not limited herein, and the cable tabs 2117 may be provided at cable turns to prevent the cable from leaving the predetermined routing path.
Referring to fig. 1, a six-dimensional force sensor 4 is connected to an end of the second joint assembly 2a away from the first joint assembly 1a, and the six-dimensional force sensor 4 can measure three force components and three moment components simultaneously, and is suitable for a tail end of a robot arm.
Example two:
in the second embodiment of the present invention, referring to fig. 5, the joint module includes a first joint component 1b and a second joint component 2b, and the first joint component 1b and the second joint component 2b are rotatably connected. First joint subassembly 1b includes first casing 11b and first steering wheel 12b, and first steering wheel 12b is used for driving about second joint subassembly 2b and rotates relative first joint subassembly 1b, and the direction of rotation of first steering wheel 12b and the direction of rotation of second steering wheel 22b are the contained angle setting, make second joint subassembly 2b can fold towards first joint subassembly 1b, reduce the space that whole arm occupy. One end of the first shell 11b close to the second shell 21b is U-shaped, and the end of the second shell 21b extends into the U-shaped space of the first shell 11b and is rotatably connected with the first shell 11 b. The first steering engine 12b comprises a driving motor 127 and a transmission assembly 128 connected to the driving motor 127, wherein the transmission assembly 128 is used for transmitting the power of a rotating output shaft of the first steering engine 12b to the U-shaped position of the first shell 11b so as to drive the second joint assembly 2b to rotate. More specifically, the transmission assembly 128 has a first rotating shaft 1281 and a second rotating shaft 1282 which are parallel to each other, the first rotating shaft 1281 of the transmission assembly 128 is connected to the rotating output shaft of the first steering engine 12b, and the second rotating shaft 1282 passes through the U-shaped portion of the first housing 11b and is fixedly connected to the second housing 21 b. Alternatively, the transmission assembly 128 is a pulley assembly, a sprocket assembly, a gear assembly, or the like, and it is within the scope of the present embodiment to have two rotating shafts arranged in parallel. Taking the transmission assembly 128 as a pulley assembly as an example, one pulley of the pulley assembly is fixed at the rotary output end of the first casing 12b, and the other pulley of the pulley assembly passes through the U-shaped position of the first casing 11b and is fixedly connected to the second casing 21b, so that the first casing 21b is driven by the first casing 12b to rotate through the pulley assembly.
Optionally, the rotation direction of the output end of the first steering engine 12b and the rotation direction of the output end of the second steering engine 22b are vertically arranged, so that the second joint component 2b can be vertically folded towards the first joint component 1b, when the joint module is applied to the mechanical arm, the folded second joint component 2b can be overlapped with other parts of the mechanical arm, the occupied volume of the mechanical arm after being folded is reduced as much as possible, and the mechanical arm is more miniaturized and personified. In other embodiments, the rotation direction of the output end of the first steering engine 12b and the rotation direction of the output end of the second steering engine 22b are approximately perpendicular to each other, for example, an included angle between the rotation direction of the output end of the first steering engine 12b and the rotation direction of the output end of the second steering engine 22b is 80 ° to 90 °.
Optionally, a third electronic skin component is disposed on the first housing 11b, and a third skin control panel is disposed in the first housing 11 b; or, a third electronic skin assembly is arranged on the second casing 21b, and a third skin control board electrically connected with the third electronic skin assembly is arranged in the second casing 21 b; or, the first casing 11b and the second casing 21b are both provided with third electronic skin components, and third skin control boards electrically connected with the corresponding third electronic skin components are correspondingly arranged in the first casing 11b and the second casing 21 b. The third electronic skin element may be selected to have the same structure as the first electronic skin element, and the detailed structure thereof is not described herein.
Referring to fig. 6, the first housing 11b includes a joint housing 112 and a U-shaped housing 111, the driving motor 127 is disposed in the joint housing 112, and the second housing 21b is connected to the U-shaped housing 111 through the second rotating shaft 42 of the transmission assembly 128. The structure of the driving motor 127 is not limited herein. The U-shaped housing 111 includes two side housing portions 1112 and a bottom housing portion 1111, wherein two second bearings 114 are disposed in one of the side housing portions 1112, and are respectively used for supporting two ends of the second rotation shaft 42 of the transmission assembly 128, a second harmonic speed reduction assembly 15 is disposed in the side housing portion 1112, an output shaft adapter 16 is disposed on an inner wall of the side housing portion 1112 facing the second joint assembly 2b, the second harmonic speed reduction assembly 15 is fixed on the second rotation shaft 42, and the output shaft adapter 16 is fixed on the second harmonic speed reduction assembly 15, so that the movement of the second rotation shaft 42 is transmitted to the second joint assembly 2b through the second harmonic speed reduction assembly 15 and the output shaft adapter 16. Alternatively, the output shaft adapter 16 has a square portion that protrudes into the second housing 21b so as to be able to bring the second housing 21b into rotation. The third bearing 115 is disposed in the other side shell 1112, and the second joint baffle 113 is fixed on the side shell 1112 and used for shielding the third bearing 115, the second joint baffle 113 is provided with a fourth wire hole 1130, with reference to fig. 7, the second shell 21b is provided with a fifth wire hole 210 opposite to the fourth wire hole 1130, so that the cable can enter the second shell 21b from the fourth wire hole 1130, the center of the third bearing 115, and the fifth wire hole 210. Optionally, a second encoder assembly 116 is fixed to the inner race of the third bearing 115 for recording the angular displacement of the second joint assembly 2 b.
Referring to fig. 7, the second steering engine 22b includes a third motor 221, a third harmonic speed reduction component 224 for speed reduction, a third brake component 222 for braking, a third encoder component 223 for recording angular displacement, a second rotary output shaft 228, and a third controller component, and the third motor 221, the third harmonic speed reduction component 224, the third brake component 222, and the third encoder component 223 may all be integrated in the steering engine housing. The third controller component 227 of the second steering engine 22b can be disposed on the side of the second housing 21b close to the bottom shell 1111, and will not interfere with cables such as video transmission lines. In this embodiment, the second rotation output shaft 228 of the second steering engine 22b has the same structure as the second rotation output shaft 225 of the second steering engine 22a in the first embodiment, and details thereof are not repeated herein. The second rotary output shaft 225 is hollow and a cable entering the second housing 21b can be arranged through the second rotary output shaft. The second rotary output shaft 228 of the second steering engine 22b may be connected to a six-dimensional force sensor, which is a sensor capable of measuring three force components and three moment components simultaneously, suitable for the end of a robotic arm.
A description will now be given of a robot arm provided in an embodiment of the present invention.
The robot arm provided by the embodiment of the invention comprises the joint module in any embodiment, and further comprises a mechanical clamping jaw connected to the tail end of the joint module.
Optionally, the robot arm includes the joint module in the first embodiment, and further includes a second joint component, a long arm component, a third joint component, and a fourth joint component, which are connected in sequence, and a mechanical clamping jaw connected to the second joint component 2 a. When the mechanical arm needs to be folded, the joint three-four components enable the joint module and the mechanical clamping jaw to rotate to the vertical arrangement of the rotating output shaft of the first steering engine 12a, then the first steering engine 12a works to enable the second joint component 2a and the mechanical jaw to bend towards the joint two-component, so that the space occupied by the mechanical arm can be reduced, and the mechanical arm is more anthropomorphic.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (13)
1. A joint module is characterized by comprising a first joint component and a second joint component which is rotatably connected to the first joint component, wherein the first joint component comprises a first shell and a first steering engine which is used for driving the second joint component to rotate relative to the first joint component, the second joint component comprises a second shell and a second steering engine which drives an external structure to rotate, and the axes of rotating output shafts of the first steering engine and the second steering engine form an included angle; the second casing is close to the one end of first casing is the U-shaped, the tip of first casing stretches into in the U-shaped space of second casing and with the second casing rotates to be connected, perhaps, first casing is close to the one end of second casing is the U-shaped, the tip of second casing stretches into in the U-shaped space of first casing and with first casing rotates to be connected.
2. The joint module of claim 1, wherein: the axis directions of the rotating output shafts of the first steering engine and the second steering engine are perpendicular to each other.
3. The joint module of claim 1, wherein: one end, close to the first shell, of the second shell is U-shaped, the end portion of the first shell extends into the U-shaped space of the second shell and is rotatably connected with the second shell, and a rotary output shaft of the first steering engine is connected to the U-shaped position of the second shell.
4. The joint module of claim 3, wherein: the first joint assembly further comprises a rotating arm fixed on the first shell, a first electronic skin assembly used for detecting an object is arranged on the rotating arm, and a first skin control plate electrically connected with the first electronic skin assembly is arranged in the first shell.
5. The joint module of claim 4, wherein: the first electronic skin assembly comprises a first skin fixing seat fixed on the surface of the rotating arm, a first skin sensor arranged on the first skin fixing seat and a first skin surface layer covering the surface of the first skin sensor, and the first skin sensor extends into the rotating arm and is electrically connected with the first skin control panel.
6. The joint module of claim 3, wherein: the second shell is provided with a second electronic skin assembly for detecting an object, and a second skin control panel electrically connected with the second electronic skin assembly is arranged in the second shell.
7. The joint module of claim 6, wherein: the second electronic skin assembly comprises a second skin fixing seat fixed on the surface of the second shell, a second skin sensor arranged on the second skin fixing seat and a second skin surface layer covering the surface of the second skin sensor, wherein the second skin sensor extends into the second shell and is electrically connected with the second skin control plate.
8. The joint module of claim 7, wherein: the second shell comprises a U-shaped shell and a joint shell, the U-shaped shell comprises a bottom shell connected with the joint shell and two side shell parts respectively connected to two ends of the bottom shell, two ends of a rotary output shaft of the first steering engine are respectively connected to the two side shell parts, and the second steering engine is fixed in the joint shell; the second electronic skin assembly is arranged on each of the two side shell parts and the joint shell.
9. The joint module of claim 8, wherein: the second skin control panel is arranged in the joint shell, an electronic skin adapter plate electrically connected with the second skin control panel is arranged in the side shell, and the second electronic skin sensor on the side shell is electrically connected with the electronic skin adapter plate.
10. The joint module of claim 1, wherein: the first shell is close to the one end of second shell is the U-shaped, the tip of second shell stretches into in the U-shaped space of first shell and with first shell rotates and connects, first steering wheel include driving motor and connect in driving motor's transmission assembly, transmission assembly have connect in driving motor's rotatory output end first rotation axis and connect in the second rotation axis of second shell, first rotation axis with second rotation axis parallel arrangement, just the second rotation axis passes U-shaped department and the fixed connection of first shell in the second shell.
11. The joint module of claim 10, wherein: a third electronic skin component is arranged on the first shell, and a third skin control panel electrically connected with the third electronic skin component is arranged in the first shell; alternatively, the first and second electrodes may be,
a third electronic skin component is arranged on the second shell, and a third skin control panel electrically connected with the third electronic skin component is arranged in the second shell; alternatively, the first and second electrodes may be,
the first shell and the second shell are respectively provided with a third electronic skin component, and the first shell and the second shell are correspondingly internally provided with a third skin control panel electrically connected with the corresponding third electronic skin component.
12. The joint module of claim 10, wherein: the transmission assembly is a belt wheel assembly, a chain wheel assembly or a gear assembly.
13. Arm, its characterized in that: comprising a joint module according to any one of claims 1-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010591111.XA CN111791264A (en) | 2020-06-24 | 2020-06-24 | Joint module and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010591111.XA CN111791264A (en) | 2020-06-24 | 2020-06-24 | Joint module and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111791264A true CN111791264A (en) | 2020-10-20 |
Family
ID=72803732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010591111.XA Pending CN111791264A (en) | 2020-06-24 | 2020-06-24 | Joint module and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111791264A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208669A (en) * | 2020-10-30 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Leg structure and humanoid robot |
| CN114368495A (en) * | 2022-03-22 | 2022-04-19 | 中国人民解放军战略支援部队航天工程大学 | Two-degree-of-freedom integrated joint for multi-body satellite torsion bending allosteric |
| WO2023051285A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | Two-degree-of-freedom actuator, mechanical arm and robot |
| CN117001713A (en) * | 2023-09-20 | 2023-11-07 | 贵州航天控制技术有限公司 | High-irradiation-resistance and high-load integrated joint device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110298309A1 (en) * | 2010-06-04 | 2011-12-08 | Robotis Co., Ltd. | Actuator module applicable to various forms of joint |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot driving mechanism and robot |
| CN108015801A (en) * | 2017-12-04 | 2018-05-11 | 深圳市优必选科技有限公司 | Joint structure, robot arm and robot |
| CN109397272A (en) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学（深圳） | A kind of six degree of freedom bionic mechanical arm |
| CN210589301U (en) * | 2019-07-12 | 2020-05-22 | 深圳市优必选科技股份有限公司 | Electronic skin and robot |
| US20200182337A1 (en) * | 2018-12-11 | 2020-06-11 | Ubtech Robotics Corp | Robot and arm assembly thereof |
-
2020
- 2020-06-24 CN CN202010591111.XA patent/CN111791264A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110298309A1 (en) * | 2010-06-04 | 2011-12-08 | Robotis Co., Ltd. | Actuator module applicable to various forms of joint |
| CN108015801A (en) * | 2017-12-04 | 2018-05-11 | 深圳市优必选科技有限公司 | Joint structure, robot arm and robot |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot driving mechanism and robot |
| CN109397272A (en) * | 2018-12-11 | 2019-03-01 | 哈尔滨工业大学（深圳） | A kind of six degree of freedom bionic mechanical arm |
| US20200182337A1 (en) * | 2018-12-11 | 2020-06-11 | Ubtech Robotics Corp | Robot and arm assembly thereof |
| CN210589301U (en) * | 2019-07-12 | 2020-05-22 | 深圳市优必选科技股份有限公司 | Electronic skin and robot |
Non-Patent Citations (1)
| Title |
|---|
| 韩雪涛 等: "《家用电子产品维修工职业资格考试必读》", 31 January 2014, 金盾出版社 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112208669A (en) * | 2020-10-30 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Leg structure and humanoid robot |
| WO2023051285A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | Two-degree-of-freedom actuator, mechanical arm and robot |
| CN114368495A (en) * | 2022-03-22 | 2022-04-19 | 中国人民解放军战略支援部队航天工程大学 | Two-degree-of-freedom integrated joint for multi-body satellite torsion bending allosteric |
| CN117001713A (en) * | 2023-09-20 | 2023-11-07 | 贵州航天控制技术有限公司 | High-irradiation-resistance and high-load integrated joint device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111791264A (en) | Joint module and mechanical arm | |
| CN102218739B (en) | Mechanical arm modularized joint with force position perceiving function | |
| US7472622B2 (en) | Linkage system | |
| US20030101838A1 (en) | Manipulation unit | |
| US20040193318A1 (en) | Actuator unit and multi-axis robot | |
| BR102017027737B1 (en) | FUNCTIONAL DEVICE, IN PARTICULAR A ROBOT, FOR EDUCATIONAL USE WITH MODULES THAT CAN BE COMBINED TOGETHER | |
| CN100522508C (en) | Finger joint for robot clever hand finger | |
| CN111237399A (en) | Servo steering engine capable of outputting high-precision position information | |
| CN207402804U (en) | A kind of six shaft mechanical arm of modularization | |
| CN111216111B (en) | Module unit and modular robot | |
| CN213005386U (en) | Joint module and mechanical arm | |
| CN114543846A (en) | Encoder unit, drive device, and robot | |
| CN111216103A (en) | Module unit position servo system, control method thereof and module robot | |
| JP7434576B2 (en) | Combined fixed module and modular robot | |
| CN111216110A (en) | Buckle fastening assembly and robot | |
| CN211806149U (en) | Module unit and modular robot | |
| CN212536548U (en) | Servo steering engine capable of outputting high-precision position information | |
| CN214265643U (en) | Steering wheel module and robot | |
| CN212170392U (en) | Base device and multi-axis robot | |
| JPS61228158A (en) | Three axes driving unit | |
| WO2021139143A1 (en) | Module unit position servo system and control method therefor, and modular robot | |
| CN111230926A (en) | Surface fastener, fastener fastening assembly and robot | |
| CN212497832U (en) | Surface fastener, fastener fastening assembly and robot | |
| CN108656136A (en) | mechanical arm and law enforcement robot | |
| CN212497761U (en) | Buckle fastening assembly and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201020 |